Template Function pinocchio::Jexp6(const MotionDense<MotionDerived>&)

Function Documentation

template<typename MotionDerived>
Eigen::Matrix<typename MotionDerived::Scalar, 6, 6, MotionDerived::Options> pinocchio::Jexp6(const MotionDense<MotionDerived> &nu)

Derivative of exp6 Computed as the inverse of Jlog6.